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switch to optionally entirely symbolic formula

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This commit is contained in:
Marcell Vazquez-Chanlatte 2016-12-15 17:21:22 -08:00
parent f3d118f01e
commit cd3fc97eab
1 changed files with 27 additions and 7 deletions
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34
stl/smooth_robustness.py
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@ -13,7 +13,7 @@ from stl.ast import t_sym
from stl.utils import walk from stl.utils import walk
from stl.robustness import op_lookup from stl.robustness import op_lookup
Param = namedtuple("Param", ["L", "h", "B", "id_map"]) Param = namedtuple("Param", ["L", "h", "B", "id_map", "eps"])
@singledispatch @singledispatch
def node_base(_, _1, _2): def node_base(_, _1, _2):
@ -36,17 +36,37 @@ def sample_rate(eps, L):
def admissible_params(phi, eps, L): def admissible_params(phi, eps, L):
h = sample_rate(eps, L),
B = max(node_base(n, eps, L) for n in walk(phi)),
return B, h
def symbolic_params(phi, eps, L):
return Param( return Param(
L=L, L=sym.Symbol("L"),
h=sample_rate(eps, L), h=sym.Symbol("h"),
B=max(node_base(n, eps, L) for n in walk(phi)), B="B",
id_map={n:i for i, n in enumerate(walk(phi))} id_map={n:i for i, n in enumerate(walk(phi))},
eps=sym.symbol("eps")
) )
def smooth_robustness(phi, eps, L): def smooth_robustness(phi, *, L=None, eps=None):
p = admissible_params(phi, eps, L) # TODO: Return symbollic formula if flag
p = symbolic_params(phi, eps, L)
lo, hi = beta(phi, p), alpha(phi, p) lo, hi = beta(phi, p), alpha(phi, p)
subs = {}
if L is not None:
subs[p.L] = L
if eps is not None:
subs[p.eps] = eps
if L is not None and eps is not None:
B, h = admissible_params(phi, eps, L)
subs[p.B] = B
subs[p.h] = h
lo, hi = lo.subs(subs), hi.subs(subs)
else:
B = p.B
return sym.log(lo, B), sym.log(hi, B) return sym.log(lo, B), sym.log(hi, B)